EP2367286B1 - Automatic correction of loudness level in audio signals - Google Patents
Automatic correction of loudness level in audio signals Download PDFInfo
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- EP2367286B1 EP2367286B1 EP10156409A EP10156409A EP2367286B1 EP 2367286 B1 EP2367286 B1 EP 2367286B1 EP 10156409 A EP10156409 A EP 10156409A EP 10156409 A EP10156409 A EP 10156409A EP 2367286 B1 EP2367286 B1 EP 2367286B1
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- gain
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- audio
- time constant
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- 230000005236 sound signal Effects 0.000 title claims description 52
- 238000012937 correction Methods 0.000 title description 6
- 238000000034 method Methods 0.000 claims description 18
- 230000004807 localization Effects 0.000 claims description 13
- 230000003044 adaptive effect Effects 0.000 claims description 11
- 230000007423 decrease Effects 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 230000008447 perception Effects 0.000 claims description 7
- 238000004088 simulation Methods 0.000 claims description 5
- 230000006978 adaptation Effects 0.000 description 12
- 238000011156 evaluation Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 208000000114 Pain Threshold Diseases 0.000 description 1
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- 230000005764 inhibitory process Effects 0.000 description 1
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- 238000012805 post-processing Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
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Images
Classifications
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03G—CONTROL OF AMPLIFICATION
- H03G3/00—Gain control in amplifiers or frequency changers
- H03G3/20—Automatic control
- H03G3/30—Automatic control in amplifiers having semiconductor devices
- H03G3/32—Automatic control in amplifiers having semiconductor devices the control being dependent upon ambient noise level or sound level
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03G—CONTROL OF AMPLIFICATION
- H03G3/00—Gain control in amplifiers or frequency changers
- H03G3/20—Automatic control
- H03G3/30—Automatic control in amplifiers having semiconductor devices
- H03G3/3005—Automatic control in amplifiers having semiconductor devices in amplifiers suitable for low-frequencies, e.g. audio amplifiers
- H03G3/301—Automatic control in amplifiers having semiconductor devices in amplifiers suitable for low-frequencies, e.g. audio amplifiers the gain being continuously variable
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03G—CONTROL OF AMPLIFICATION
- H03G3/00—Gain control in amplifiers or frequency changers
- H03G3/20—Automatic control
- H03G3/30—Automatic control in amplifiers having semiconductor devices
- H03G3/3005—Automatic control in amplifiers having semiconductor devices in amplifiers suitable for low-frequencies, e.g. audio amplifiers
- H03G3/3026—Automatic control in amplifiers having semiconductor devices in amplifiers suitable for low-frequencies, e.g. audio amplifiers the gain being discontinuously variable, e.g. controlled by switching
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03G—CONTROL OF AMPLIFICATION
- H03G7/00—Volume compression or expansion in amplifiers
- H03G7/007—Volume compression or expansion in amplifiers of digital or coded signals
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03G—CONTROL OF AMPLIFICATION
- H03G7/00—Volume compression or expansion in amplifiers
- H03G7/06—Volume compression or expansion in amplifiers having semiconductor devices
Definitions
- This invention relates to a method for adapting a gain of an audio output signal containing at least two different tracks with different signal level ranges and the system therefor.
- the music signal can be stored on a CD, a DVD or on any other storage medium.
- new compression schemes such as MPEG audio signals with different genres and artists are stored on a storage medium and may be combined to a playlist to be played out to a user.
- the audio signals perceived by the passengers contain the audio signal itself and road tire noise, aerodynamics noise and engine noise.
- the different audio signals of the different audio sources often have different signal and dynamics compression levels. Often, different tracks of an audio output signal have different signal level ranges which are perceived by the user with a different loudness level.
- the received audio signal should be perceivable to the user, meaning that it has to exceed the noise present in the vehicle.
- the overall audio signal level should not exceed a certain level where a hearing damage could be generated or where the perception is painful for the user.
- WO 2004/ 111994 discloses a method for adjusting the perceived loudness of an audio signal wherein a gain value is calculated which, when applied to the audio signal, results in a perceived loudness substantially the same as a reference loudness.
- WO 2006/047600 discloses a method for adjusting the perceived loudness based on a psycho-acoustic model of the hearing.
- WO 2008/138365 A1 discloses a method for providing a hearing assistance using a voice judgment unit that detects the beginning of a sentence spoken by a speaker using two microphones locally spaced apart.
- a method for adapting a gain of an audio output signal containing at least two different tracks with different signal level ranges comprises the step of determining dynamically a perceived loudness of an audio input signal based on a psycho-acoustic model of the human hearing. Additionally, a gain of the audio output signal output by a gain determination unit receiving the determined loudness and outputting the audio output signal is dynamically determined, wherein the gain is determined in such a way that said at least two tracks of the audio output signal are output within a predetermined range of signal levels.
- a volume adjustment by the user is not necessary anymore. Especially the reduction of the volume of a track or an audio signal having a high signal pressure level SPL is avoided as well as the increase of the volume in case of an audio signal having a comparably low signal pressure level. Thus, it is possible to have an equivalent loudness of all different audio signal sources while preserving the dynamic structure of the audio signal.
- the loudness can be determined using said psycho-acoustic model alone or in combination with signal statistics of the audio input signal.
- the method comprises the step of determining a pause between said at least two different tracks or a pause within a track in which noise is the dominant audio input signal.
- the gain is decreased in the determined pause in order to avoid the amplification of noise.
- the noise is detected in the audio input signal by determining whether the input signal can be localized or not using a simulation of the spatial perception of the audio input signal as it would be perceived by a listener listening to the audio input signal based on a binaural localization model. If it is possible to localize the audio input signal using said psycho-acoustical model of the human hearing, then the audio input signal is not considered as being noise.
- the audio input signal is considered as mainly containing noise.
- the gain is decreased for a pause if the pause is detected over a predetermined time period, e.g. between 10-100 ms, preferably around 50 ms.
- a predetermined time period e.g. between 10-100 ms, preferably around 50 ms.
- the gain is lowered in order to avoid to lower the gain during a track in which a very short period with no music signal is contained.
- the gain should be adapted accordingly by increasing the gain in such a way that the audio output signal covers the predetermined range of signal levels.
- audio input signals having an audio input level that is too high are lowered by controlling the gain in such a way that the predetermined range of signal levels is covered, and if the input audio level is too low, the gain is increased in order to cover the same range of signal levels.
- the localization model can be used for pause detection based on the localizability of the input signal.
- the localization model can additionally be used to estimate the loudness.
- audio signals are processed in blocks to save processing time compared to a sample-by-sample processing.
- a gain of each block is determined using a time constant, this time constant describing the change of the loudness from one signal block to the next block.
- a raising time constant is used to describe a raising signal loudness between two consecutive blocks and a falling time constant is used to describe a falling loudness between two consecutive blocks.
- a block contains one or several signal samples of the digital audio input signal.
- the time constants are configured in such a way that the raising time constants allow a faster loudness increase than the falling time constant allows a loudness decrease.
- the fast loudness increase is necessary at the beginning of a new track after a signal pause, where it is necessary to suddenly increase a loudness from one block to the other.
- the lower possible loudness decrease between two blocks allows to maintain the dynamic of an increased loudness originally contained in the audio signals.
- the time constant is an adaptive time constant, wherein the adaptive time constant is adapted in such a way that, at the beginning of a track, the time constant is allowed to vary faster than later during the track.
- the adaptive time constant is adapted in such a way that, at the beginning of a track, the time constant is allowed to vary faster than later during the track.
- the adaptive time constant is reset when a pause between two tracks is detected. It is possible that some users of an audio signal source would like to maintain the dynamic range of the original audio signal without adapting the gain for an adapted loudness. To this end it is possible to further control the gain determined by the gain determination unit in such a way that the amount of determined gain determined by the gain determination unit can be adapted by the user. By way of example it might be possible to indicate that the automatically and dynamically adapted gain may be used for 100%. However, it is also possible to control the gain adaptation in such a way that the determined gain determined by the gain determination unit is not considered at all for the audio output signal level.
- the audio input signal may be delayed before it is output, the delay corresponding to the time that is needed to determine the adapted gain. This delay may be constant or may vary with the calculation of the adapted gain.
- the invention furthermore relates to a system adapting the gain as described above comprising a loudness determination unit dynamically determining the loudness of the audio input signal based on the psycho-acoustic binaural model of the human hearing and eventually based on signal statistics of the music input signal or the combination of both.
- a gain determination unit is provided in a system receiving the determined loudness, the gain determination unit outputting the music output signal with an adapted gain, wherein the gain determination unit dynamically determines the gain of the music output signal in such a way that said at least two tracks of the audio output signal are output in such a way that they cover a predetermined range of signal levels.
- the audio analyzing unit determines a pause, as mentioned above, by analyzing the possibility to localize the input signal or by using the signal statistics.
- the music analyzing unit tries to localize the audio input signal using a simulation of the spatial adaption of the input signal.
- One embodiment how the localization using the spatial perception of the music input signal as perceived by the listener is described in EP 1 522 868 A1 .
- For further details of the localization reference is made to this document. Further details can also be found in " Acoustical Evaluation of Virtual Rooms by Means of Binaural Activity Patterns" by Wolfgang Hess et al. in Audio Engineering Society Convention Paper 5864, 115th Convention, October 2003 .
- For the localization of signal sources reference is furthermore made to W. Lindemann "Extension of a Binaural Cross-Correlation Model by Contralateral Inhibition. I. Simulation of Lateralization for Stationary Signals", in Journal of Acoustic Society of America, December 1986, p. 1608-1622, Vol. 80 (6 ).
- the audio analyzing unit determines the adaptive time constants as described above and resets them when a pause is detected. Different tracks of the audio signals can be separated by recognizing the content of the different tracks using the pause detection mentioned above.
- the system may comprise a gain control unit configured to control the gain in such a way that it is determined to which amount the determined gain is used for the output signal level of the output signal. This gain control unit may be controlled by a user interface allowing the user to select to which extent the determined gain should be used for controlling the signal level of the audio output signal.
- a delay unit may be present that introduces that delay time in the audio input signal before it is output with the controlled gain.
- the delay element introduces a delay that corresponds to the delay time needed to determine the adapted gain.
- the vehicle sound signal comprises noise components 10 and an audio signal component 20.
- the noise signal component 10 may be due to road tire noise, aerodynamic noise, or engine noise.
- Curve 11 describes the noise as generated in a Roadster or sports car, whereas curve 12 shows the speed-dependent noise of a SUV.
- the noise can have values between 60 and 85 dB SPL (Signal Pressure Level). As the hearing pain threshold is around 120 dB SPL, the range for the audio signal components is within 20-40 dB SPL.
- a signal level of an audio input signal is shown in full scale, meaning that o dB full scale (o dBFS) is assigned to the maximum possible signal level in the digital domain, dB full scale meaning decibels relative to full scale.
- o dBFS o dB full scale
- dB full scale meaning decibels relative to full scale.
- the signal level and therefore also the loudness level corresponding to the signal as perceived by a user varies considerably.
- the corresponding loudness was estimated from the signal input level.
- One possibility for a loudness estimation is described in Recommendation ITU-R BS. 1770-1 ("Algorithms to Measure Audio Program Loudness and to a Peak Audio Level ").
- loudness may be estimated through a binaural localization model. If a sound signal as shown in Fig. 2 is played out to the user in a vehicle, some parts of the audio signal may be perceived in an unpleasant loudness, whereas other parts of the audio signal may be considered to be too low to be correctly perceived by the user.
- Fig. 3 an ideally adjusted level of the signal of Fig. 2 is shown.
- the signal samples in range 21 should be adapted to a lower signal level
- the signals in range 22 should be adapted to a higher signal level for a good perception by the user.
- the signals in range 23 should be output with a strongly decreased signal level.
- Fig. 3 In the lower part of Fig. 3 the corresponding estimated loudness of the ideally adjusted level in the upper part is shown.
- a loudness evaluation as shown in Fig. 3 is preferred to the loudness evaluation as shown in Fig. 2 .
- the loudness evaluation of Fig. 3 can be perceived better than the loudness evaluation of Fig. 2 .
- a smoothed, relatively constant loudness is reached and visualized here.
- a system is shown with which the loudness can be adapted as schematically shown in the embodiment of Fig. 3 .
- the system shown comprises a audio signal analyzing unit 30 in which the loudness of an audio input signal, such as an entertainment audio signal, is determined using a psycho-acoustical localization model of the human hearing and using signal statics.
- the audio input signal 19 is input into a signal controller 40 comprising a gain control unit 41 and a delay element 42.
- the gain determined by the gain control unit is controlled using a user interface 50, where it can be determined whether or to which extent the gain determined by the gain determination unit is used for the audio output signal 19 before it is output via a loudspeaker 60 or fed to a post-processing stage.
- the entertainment or audio input signal can be a 2.0, 5.1 or 7.1 audio signal or another format that is input as audio signal 18 into the audio signal analyzing unit and signal controller 40.
- the loudness is determined based on a psycho-acoustical model of the human hearing and based on signal statistics.
- the psycho-acoustical model is used to estimate the loudness, localization of sound, and to determine whether noise is present in the audio input signal as a dominant factor, e.g. during a pause or between two tracks.
- the signal statistics is the second basis for determining or estimating the loudness and for determining whether a pause with noise is present in the audio signal.
- the signal strength of the entertainment audio signal can be determined.
- a loudness adaptation is determined by dynamically determining adaptive time constants as will be described in further detail below.
- the audio signal analyzing unit comprises a loudness determination unit 31 estimating a loudness of the received audio input signal.
- the loudness determination unit 31 may determine the loudness with methods known in the art and as described inter alia in ITU-R BS 1770-1.
- the loudness determination unit may furthermore use a binaural model of the human hearing for determining the loudness and for determining whether and where the audio input signal 18 could be localized by a user when hearing said audio input signal. This binaural model simulates the spatial perception of the audio input signal and allows to determine whether the audio input signal contains mainly noise or any other input signal such as music or speech.
- the localization of the audio input signal is described in more detail in the documents mentioned earlier in the present application, mainly in EP 1 522 868 A1 , in the document of W. Lindemann or in the Audio Engineering Society Convention Paper 5864 mentioned above.
- This localization technique allows to discriminate noise from other sound signals and helps to avoid that if only noise is detected in the audio input signal, that this noise is output with an increased gain. It also allows to reset the adaptive time constants, when a pause was detected.
- the loudness determination unit estimates the loudness of the audio input signal using the psycho-acoustical model of the human hearing.
- the loudness determination unit 31 can additionally use a statistical signal processing in order to estimate the loudness of the audio input signal or to detect signal pauses.
- a statistical signal processing In the statistical analysis of the audio input signal the actual signal level of different samples of the audio input signal is determined. By way of example if the signal level of several consecutive samples of the input signal follows a Gaussian distribution, it can be deduced that the processed samples contain noise and no other audio signal.
- the audio signal analyzing unit uses the result of the loudness estimation for calculating time constants that are introduced into the audio input signal.
- the calculation of the time constants is symbolized by the time constant generator 32.
- the audio signal analyzing unit 30 further comprises a gain determination unit 35 which adapts the gain of the audio output signal 17.
- the loudness determination unit 31 provides a loudness for a certain part of the music input signal, e.g. a block containing several samples by emitting a dB loudness equivalent (dBLEQ).
- the gain determination unit has a predefined signal level which should be met when outputting the audio signal, e.g. -12 dB as shown in Figs. 7 and 8 in the lower part of the Figs or any other signal level threshold.
- the determined loudness is subtracted from the mean signal level to be obtained in order to calculate the gain.
- the gain has to be adapted accordingly by decreasing the gain in order to have an average signal level of about -12 dB.
- the time constants 26 indicate how the loudness should be adapted from one sample to the next sample.
- the time constant could be a raising time constant or a falling time constant.
- the raising time constant indicates how the signal gain is increased from one sample to the next sample, whereas the falling time constant indicates the gain decrease from one sample to the next sample.
- the time constants 26 are determined in such a way that the raising time constants can be adapted much more rapidly than the falling time constants.
- the audio signal level should be not increased in order to avoid the amplification of noise. When a new track starts, high signal levels may occur directly after very low signal levels.
- the raising time constants of the loudness estimation have to be adapted accordingly in order to avoid that the signal level at the beginning of a new track is heavily increased.
- the falling time constant in the case of a audio signal level decrease only allow a slower decrease of the signal level compared to the increase.
- the time constants are adaptive time constants meaning that the longer a track is, the slower the time constants react. This can be valid for the increasing and decreasing time constants.
- a smoothed loudness estimation guarantees also a loudness estimation in a way like humans perceive loudness. Peaks and dips are smoothed out by the human auditory system.
- the fact that the time constants are varying slower with the increase time of an audio track helps to maintain the dynamics of the audio signal. However, also when a long runtime of a music signal is reached, a shorter reaction time of increasing loudness guarantees adequate reaction to fast signal increases.
- a gain increase and gain decrease is shown for a music signal over time.
- a first gain is determined as shown.
- an increased gain is determined followed by signal block 63 with a slightly decreased gain.
- a gain for each block is determined, i.e. a target gain for each block.
- the target gain for block n is then attained in a linear ramp starting from the target gain of the previous block n-1.
- the time constants may be reset.
- the pause detection or track detection carried out in the signal analyzing unit 30 is symbolized by the pause detection unit 33 and the track detection unit 34.
- the loudness determination unit 31, the time constant generator 32, the pause and the track detection units 33 and 34, and the gain determination unit 35 are shown as separate units.
- the different units may be incorporated into fewer units and that the units may be combined in several units or even in one unit.
- the signal analyzing unit may be designed by hardware elements or by software or by a combination of hardware and software.
- the signal output 17 of the signal analyzing unit is input into a gain control unit 41 which controls the gain of the audio input signal as will be explained further below.
- the signal control unit 40 furthermore contains the delay element introducing the delay into the audio input signal 18 that is needed for the determination of the gain in the signal analyzing unit.
- the delay element helps to assure that the signal processed by the signal analyzing unit 30 is actually controlled with the correct time constants corresponding to the audio signal for which they were determined.
- the gain control unit 41 helps to determine to which amount a gain determined by the gain determination unit 35 is actually influencing the signal output level.
- the user interface 50 is provided in which the user can indicate to which percentage the gain correction by the audio signal analyzing unit 30 is used for the output. If 100% of the gain should be output as present in signal 17, then the values as determined by the gain determination unit are taken over.
- a user does not want a gain adaptation, e. g. in case he wants to maintain the loudness evolution in a piece of music.
- the user might set the gain adaptation in gain control unit 41 to 0%, meaning that no correction as determined in unit 30 is used for the output.
- the amount of gain correction can be determined, e.g. by setting a factor between 0% and 100%. If a factor of 0% is set, the gain is determined without the influence of the time constants.
- Fig. 7 a first example of the automatic loudness adaptation is shown.
- the audio input signal 18 before the loudness estimation is shown.
- the input signals cover different input level ranges.
- the maximum input level may be 0 dB full scale.
- the audio output signal 19 after loudness estimation and gain adaptation is shown.
- the average signal level is set to -12 dB full scale. At the same time the dynamic structure of the audio signal is preserved.
- Fig. 8 another example is shown in which the input level has a maximum input level of -20 dB full scale.
- the audio output signal 19 is shown after loudness estimation and gain adaptation. Again the dynamic structure is preserved and the average signal level is again -12 dB full scale. If the input signal shown in the upper part of Figs. 7 and 8 was output to the user, the user would have to adjust the volume frequently in order to avoid signal levels that are unpleasant high and in order to increase the signal for parts of the audio signal where the signal level is too low for listening.
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Control Of Amplification And Gain Control (AREA)
- Circuit For Audible Band Transducer (AREA)
- Tone Control, Compression And Expansion, Limiting Amplitude (AREA)
Priority Applications (12)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP10156409A EP2367286B1 (en) | 2010-03-12 | 2010-03-12 | Automatic correction of loudness level in audio signals |
EP10197304A EP2367287A3 (en) | 2010-03-12 | 2010-12-29 | Automatic correction of loudness level in audio signals |
CA2728272A CA2728272C (en) | 2010-03-12 | 2011-01-14 | Automatic correction of loudness level in audio signals |
JP2011014516A JP5805397B2 (ja) | 2010-03-12 | 2011-01-26 | オーディオ信号におけるラウドネスレベルの自動補正 |
CA2731066A CA2731066A1 (en) | 2010-03-12 | 2011-02-08 | Automatic correction of loudness level in audio signals |
KR1020110021245A KR101767378B1 (ko) | 2010-03-12 | 2011-03-10 | 오디오 신호에서 음량 레벨의 자동 보정 |
JP2011054725A JP2011193465A (ja) | 2010-03-12 | 2011-03-11 | オーディオ信号のラウドネスレベルの自動補正 |
US13/046,159 US8594345B2 (en) | 2010-03-12 | 2011-03-11 | Automatic correction of loudness level in audio signals |
US13/046,086 US8498430B2 (en) | 2010-03-12 | 2011-03-11 | Automatic correction of loudness level in audio signals |
KR1020110022033A KR20110103355A (ko) | 2010-03-12 | 2011-03-11 | 오디오 신호에서 음량 레벨의 자동 보정 |
CN201110060231.8A CN102195585B (zh) | 2010-03-12 | 2011-03-14 | 音频信号响度级的自动校正 |
CN2011100599226A CN102195584A (zh) | 2010-03-12 | 2011-03-14 | 音频信号响度级的自动校正 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP10156409A EP2367286B1 (en) | 2010-03-12 | 2010-03-12 | Automatic correction of loudness level in audio signals |
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EP2367286A1 EP2367286A1 (en) | 2011-09-21 |
EP2367286B1 true EP2367286B1 (en) | 2013-02-20 |
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EP10156409A Active EP2367286B1 (en) | 2010-03-12 | 2010-03-12 | Automatic correction of loudness level in audio signals |
EP10197304A Withdrawn EP2367287A3 (en) | 2010-03-12 | 2010-12-29 | Automatic correction of loudness level in audio signals |
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EP10197304A Withdrawn EP2367287A3 (en) | 2010-03-12 | 2010-12-29 | Automatic correction of loudness level in audio signals |
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US (2) | US8498430B2 (ko) |
EP (2) | EP2367286B1 (ko) |
JP (2) | JP5805397B2 (ko) |
KR (2) | KR101767378B1 (ko) |
CN (2) | CN102195584A (ko) |
CA (2) | CA2728272C (ko) |
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JP5707219B2 (ja) * | 2011-05-13 | 2015-04-22 | 富士通テン株式会社 | 音響制御装置 |
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CN107257234B (zh) * | 2013-01-21 | 2020-09-15 | 杜比实验室特许公司 | 解码具有保留数据空间中的元数据容器的编码音频比特流 |
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EP2833549B1 (en) * | 2013-08-01 | 2016-04-06 | EchoStar UK Holdings Limited | Loudness level control for audio reception and decoding equipment |
CN110808723B (zh) | 2014-05-26 | 2024-09-17 | 杜比实验室特许公司 | 音频信号响度控制 |
CN105336341A (zh) | 2014-05-26 | 2016-02-17 | 杜比实验室特许公司 | 增强音频信号中的语音内容的可理解性 |
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- 2010-03-12 EP EP10156409A patent/EP2367286B1/en active Active
- 2010-12-29 EP EP10197304A patent/EP2367287A3/en not_active Withdrawn
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2011
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- 2011-03-10 KR KR1020110021245A patent/KR101767378B1/ko active IP Right Grant
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- 2011-03-14 CN CN2011100599226A patent/CN102195584A/zh active Pending
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EP2367287A3 (en) | 2011-10-26 |
EP2367286A1 (en) | 2011-09-21 |
US8498430B2 (en) | 2013-07-30 |
EP2367287A2 (en) | 2011-09-21 |
CA2728272C (en) | 2015-03-17 |
US20110228953A1 (en) | 2011-09-22 |
US8594345B2 (en) | 2013-11-26 |
CN102195585A (zh) | 2011-09-21 |
KR20110103339A (ko) | 2011-09-20 |
US20110222695A1 (en) | 2011-09-15 |
JP2011193442A (ja) | 2011-09-29 |
JP5805397B2 (ja) | 2015-11-04 |
CN102195584A (zh) | 2011-09-21 |
CA2728272A1 (en) | 2011-09-12 |
CN102195585B (zh) | 2015-04-22 |
KR20110103355A (ko) | 2011-09-20 |
CA2731066A1 (en) | 2011-09-12 |
KR101767378B1 (ko) | 2017-08-11 |
JP2011193465A (ja) | 2011-09-29 |
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